Manipulating Soft Tissues by Deep Reinforcement Learning for Autonomous Robotic Surgery.
Ngoc Duy NguyenThanh NguyenSaeid NahavandiAsim BhattiGlenn GuestPublished in: CoRR (2019)
Keyphrases
- autonomous robotic
- soft tissue
- soft tissue deformation
- reinforcement learning
- surgical simulation
- minimally invasive surgery
- medical images
- semi autonomous
- robotic assisted
- finite element
- fully autonomous
- magnetic resonance
- intraoperative
- haptic feedback
- tissue deformation
- elastic properties
- mass spring model
- image registration
- deformable models
- state space
- automatic segmentation
- reinforcement learning algorithms
- computer assisted
- learning algorithm
- minimally invasive
- model free
- real robot
- biomechanical model
- mass spring
- intensity distribution
- image guided
- mr images
- optimal policy
- markov decision processes
- needle insertion